#ifndef __POSITION_PID_H__
#define __POSITION_PID_H__
#include "mypid.h"
#include "system.h"


void positionControlInit(float ratePidDt, float posPidDt);
void positionResetAllPID(void);
void positionController(float* thrust, S_float_angle *attitude, setpoint_t *setpoint, const state_t *state, float dt);
void positionPIDwriteToConfigParam(void);
float getAltholdThrust(void);
	
#endif /* __POSITION_PID_H */
